From dd08e98cc12613a3567ad248ab794edb95201809 Mon Sep 17 00:00:00 2001
From: Ruben Rodriguez <ruben@gnu.org>
Date: Wed, 16 Feb 2022 16:35:31 +0100
Subject: [PATCH] Added calibration and config for WMR HP Reverb G1

---
 data/monado/reverbg1.toml |  19 ++++++
 data/reverbg1_calib.json  | 119 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 138 insertions(+)
 create mode 100644 data/monado/reverbg1.toml
 create mode 100644 data/reverbg1_calib.json

diff --git a/data/monado/reverbg1.toml b/data/monado/reverbg1.toml
new file mode 100644
index 0000000..a321aad
--- /dev/null
+++ b/data/monado/reverbg1.toml
@@ -0,0 +1,19 @@
+# Options for the Basalt SLAM Tracker
+
+# Show GUI
+show-gui=1
+
+# Ground-truth camera calibration used for simulation.
+cam-calib="/home/mateo/Documents/apps/bsltdeps/basalt/data/reverbg1_calib.json"
+
+# Path to config file.
+config-path="/home/mateo/Documents/apps/bsltdeps/basalt/data/euroc_config.json"
+
+# Path to folder where marginalization data will be stored.
+marg-data=""
+
+# Poll and print for queue sizes.
+print-queue=0
+
+# Whether to use a double or single precision pipeline.
+use-double=0
diff --git a/data/reverbg1_calib.json b/data/reverbg1_calib.json
new file mode 100644
index 0000000..0796d4b
--- /dev/null
+++ b/data/reverbg1_calib.json
@@ -0,0 +1,119 @@
+{
+    "value0": {
+        "T_imu_cam": [
+            {
+                "px": -0.05136872082948685,
+                "py": 0.009998396039009094,
+                "pz": 0.0031021686736494303,
+                "qx": -0.18316162028019126,
+                "qy": -0.21380556022816827,
+                "qz": -0.04333492408539112,
+                "qw": 0.9585724157494682
+            },
+            {
+                "px": 0.05563707478055065,
+                "py": 0.009883813601784301,
+                "pz": 0.0023174414829479906,
+                "qx": -0.18215833759001973,
+                "qy": 0.21797714906351776,
+                "qz": 0.0374739045743495,
+                "qw": 0.9580709687999817
+            }
+        ],
+        "intrinsics": [
+            {
+                "camera_type": "pinhole-radtan8",
+                "intrinsics": {
+                    "fx": 270.6588554382324,
+                    "fy": 270.38835525512695,
+                    "cx": 327.10411071777344,
+                    "cy": 232.2949504852295,
+                    "k1": 0.806943953037262,
+                    "k2": 0.8419846296310425,
+                    "p1": 0.00013395959103945643,
+                    "p2": 0.00011093200009781867,
+                    "k3": 0.005645581521093845,
+                    "k4": 1.0772404670715332,
+                    "k5": 0.9886198043823242,
+                    "k6": 0.11069812625646591
+                }
+            },
+            {
+                "camera_type": "pinhole-radtan8",
+                "intrinsics": {
+                    "fx": 268.75354766845703,
+                    "fy": 268.85175704956055,
+                    "cx": 321.15787506103516,
+                    "cy": 239.18565273284912,
+                    "k1": 0.7496447563171387,
+                    "k2": 0.7209427952766418,
+                    "p1": 0.0004423852951731533,
+                    "p2": -7.726625335635617e-05,
+                    "k3": -0.0001313198881689459,
+                    "k4": 1.0160305500030518,
+                    "k5": 0.8497552871704102,
+                    "k6": 0.08660980314016342
+                }
+            }
+        ],
+        "resolution": [
+            [
+                640,
+                480
+            ],
+            [
+                640,
+                480
+            ]
+        ],
+        "calib_accel_bias": [
+            -0.052095793187618256,
+            -0.012860408052802086,
+            -0.25092798471450806,
+            0.026029586791992188,
+            -0.0009802503045648336,
+            -0.0017976306844502687,
+            0.029732108116149902,
+            -0.0025643398985266685,
+            0.03058755397796631
+        ],
+        "calib_gyro_bias": [
+            0.016026269644498825,
+            0.0017041630344465375,
+            0.04158217832446098,
+            -0.0008627176284790039,
+            -0.0005487040616571903,
+            -0.0015725474804639816,
+            -0.0005488676251843572,
+            -0.0005660653114318848,
+            0.0011183632304891944,
+            -0.0015808118041604757,
+            0.001123905531130731,
+            0.004389047622680664
+        ],
+        "imu_update_rate": 250,
+        "accel_noise_std": [
+            0.010700000450015068,
+            0.010700000450015068,
+            0.010700000450015068
+        ],
+        "gyro_noise_std": [
+            0.0009500000160187483,
+            0.0009500000160187483,
+            0.0009500000160187483
+        ],
+        "accel_bias_std": [
+            0.0999999988824129,
+            0.0999999988824129,
+            0.0999999988824129
+        ],
+        "gyro_bias_std": [
+            0.009999999873689375,
+            0.009999999873689375,
+            0.009999999873689375
+        ],
+        "cam_time_offset_ns": 0,
+        "view_offset": 247,
+        "vignette": []
+    }
+}